Integration module for advanced driver assistance system

ABSTRACT

A signal processing module is provided. The signal processing module includes a function weight table that stores weights for each first sensor for an autonomous driving mode and an ADAS driving mode and selects and outputs only the weight for each first sensor, a first weight applying device that generates a function weight application signal by applying the weight for each first sensor to sensing information of sensors for sensing an object, a road environment determining device that determines a road environment based on the sensing information of the sensors for sensing the object, a road environment weight table that stores weights for each second sensor for a road environment and selects and outputs an weight for each second sensor, and a second weight applying device that outputs a dataset by applying the weight for each second sensor to the function weight application signal.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority from and the benefit of Korean PatentApplication No 10-2019-0149943, filed on Nov. 20, 2019 and Korean PatentApplication No 10-2019-0179094, filed on Dec. 31, 2019, which is herebyincorporated by reference for all purposes as if set forth herein.

BACKGROUND Field

Exemplary embodiments relate to a signal processing module forsupporting both of an autonomous driving system and an advanced driverassistance system (ADAS) located in a vehicle and a system integrationmodule including the same.

Discussion of the Background

With the advancement of technology, for the convenience of users,various sensors, electronic devices, and the like have been provided inthe vehicle. Particularly, research has been actively done for an ADASfor convenience of driving of users. In addition, autonomous vehicleshave been actively developed.

Because it is able for a driver to select ADAS driving and autonomousdriving, there is an urgent need to develop a system integration modulecapable of applying both ADAS driving and autonomous driving.

Furthermore, because an ADAS and an autonomous vehicle have to include alarge number of sensors and electronic devices and because sensors andelectronic devices are arranged again according to sizes and shapes ofvehicles, a large number of sensors and electronic devices located inthe vehicle act as a stumbling block in the popularization anddistribution of ADAS and autonomous vehicles.

The above information disclosed in this Background section is only forenhancement of understanding of the background of the invention and,therefore, it may contain information that does not constitute priorart.

SUMMARY

Exemplary embodiments of the present invention have been made to solvethe above-mentioned problems occurring in the prior art while advantagesachieved by the prior art are maintained intact.

An aspect of the invention provides a signal processing module to whichboth of advanced driver assistance system (ADAS) driving and autonomousdriving are applicable and a system integration module including thesame.

Another aspect of the invention provides a signal processing module forapplying a weight to sensing results of sensors used during ADAS drivingor autonomous driving and a system integration module including thesame.

Another aspect of the invention provides an ADAS integration module formoving electronic components located in a module when various electroniccomponents used in the ADAS are mounted on the module to locations ofelectronic components mounted according to predetermined layoutinformation.

The technical problems to be solved by the present invention are notlimited to the aforementioned problems, and any other technical problemsnot mentioned herein will be clearly understood from the followingdescription by those skilled in the art to which the present inventionpertains. Furthermore, it may be easily seen that purposes andadvantages of the present invention may be implemented by meansindicated in claims and a combination thereof.

According to an aspect of the invention, a signal processing module mayinclude a function weight table that stores weights for each of firstsensors for an autonomous driving mode and an ADAS driving mode andselects and outputs a weight for each of the first sensors correspondingto a driving mode selected between the autonomous driving mode and theADAS driving mode, a first weight applying device that generates afunction weight application signal by applying the selected weight foreach of the first sensors to sensing information of sensors for sensingan object, a road environment determining device that determines a roadenvironment based on the sensing information of the sensors for sensingthe object, a road environment weight table that stores weights for eachof second sensors for the road environment and select and outputs aweight for each of second sensors, the selected weight for each of thesecond sensors corresponding to a result determined by the roadenvironment determining device, and a second weight applying device thatoutputs a dataset by applying the selected weight for each of the secondsensors to the function weight application signal.

According to another aspect of the invention, a signal processing modulemay include a plurality of sensors that determines an object outside avehicle, an internal communication module that communicates withcontrollers inside the vehicle, an external communication module thatcommunicates with devices outside the vehicle, and a signal processingmodule that applies a first weight according to a driving mode and asecond weight for a road environment to information obtained bycommunicating with at least one of the plurality of sensors, theinternal communication module, or the external communication module.

According to another aspect of the invention, a signal processing modulemay include a frame mounted on a roof rack of a vehicle, a rail disposedon an upper portion of the frame; and a plurality of modules that movesalong the rail. At least one of the plurality of modules may include amotor for moving along the rail.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory and areintended to provide further explanation of the invention as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a furtherunderstanding of the invention and are incorporated in and constitute apart of this specification, illustrate embodiments of the invention, andtogether with the description serve to explain the principles of theinvention.

FIG. 1 is a block diagram schematically illustrating a configuration ofa vehicle to which a system integration module is applied according toan exemplary embodiment.

FIG. 2 is a block diagram illustrating a configuration of a signalprocessing module included in a system integration module according toan exemplary embodiment.

FIGS. 3 and 4 are flowcharts illustrating an operation of a signalprocessing module included in a system integration module according toan exemplary embodiment.

FIG. 5 is a flowchart illustrating an operation of a system integrationmodule according to an exemplary embodiment.

FIG. 6 is a block diagram schematically illustrating a configuration ofa vehicle to which a system integration module is applied according toanother exemplary embodiment.

FIG. 7 is a plan view illustrating a system integration module accordingto another exemplary embodiment.

FIGS. 8A, 8B, 8C, and 8D are drawings illustrating an operation of asystem integration module according to another exemplary embodiment.

FIG. 9 is a side view illustrating a system integration module accordingto another exemplary embodiment.

FIG. 10 is a drawing illustrating a vehicle to which a systemintegration module is applied according to another exemplary embodiment.

FIGS. 11 and 12 are flowcharts illustrating an operation of a systemintegration module according to another exemplary embodiment.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

In the following description, for the purposes of explanation, numerousspecific details are set forth in order to provide a thoroughunderstanding of various exemplary embodiments or implementations ofimplementations of the invention. As used herein “embodiments” and“implementations” are interchangeable words that are non-limitingexamples of devices or methods employing one or more of the inventiveconcepts disclosed herein. It is apparent, however, that variousexemplary embodiments may be practiced without these specific details orwith one or more equivalent arrangements. In other instances, well-knownstructures and devices are shown in block diagram form in order to avoidunnecessarily obscuring various exemplary embodiments. Further, variousexemplary embodiments may be different, but do not have to be exclusive.For example, specific shapes, configurations, and characteristics of anexemplary embodiment may be used or implemented in another exemplaryembodiment without departing from the scope of the inventive concepts.

Unless otherwise specified, the illustrated exemplary embodiments are tobe understood as providing exemplary features of varying detail of someways in which the inventive concepts may be implemented in practice.Therefore, unless otherwise specified, the features, components,modules, layers, films, panels, regions, and/or aspects, etc.(hereinafter individually or collectively referred to as “elements”), ofthe various embodiments may be otherwise combined, separated,interchanged, and/or rearranged without departing from the scope of theinventive concepts.

The use of cross-hatching and/or shading in the accompanying drawings isgenerally provided to clarify boundaries between adjacent elements. Assuch, neither the presence nor the absence of cross-hatching or shadingconveys or indicates any preference or requirement for particularmaterials, material properties, dimensions, proportions, commonalitiesbetween illustrated elements, and/or any other characteristic,attribute, property, etc., of the elements, unless specified. Further,in the accompanying drawings, the size and relative sizes of elementsmay be exaggerated for clarity and/or descriptive purposes. When anexemplary embodiment may be implemented differently, a specific processorder may be performed differently from the described order. Forexample, two consecutively described processes may be performedsubstantially at the same time or performed in an order opposite to thedescribed order. Also, like reference numerals denote like elements.

When an element is referred to as being “on,” “connected to,” or“coupled to” another element or layer, it may be directly on, connectedto, or coupled to the other element or intervening elements may bepresent. When, however, an element is referred to as being “directlyon,” “directly connected to,” or “directly coupled to” another element,there are no intervening elements present. To this end, the term“connected” may refer to physical, electrical, and/or fluid connection,with or without intervening elements. Further, the D1-axis, the D2-axis,and the D3-axis are not limited to three axes of a rectangularcoordinate system, such as the x, y, and z-axes, and may be interpretedin a broader sense. For example, the D1-axis, the D2-axis, and theD3-axis may be perpendicular to one another, or may represent differentdirections that are not perpendicular to one another. For the purposesof this disclosure, “at least one of X, Y, and Z” and “at least oneselected from the group consisting of X, Y, and Z” may be construed as Xonly, Y only, Z only, or any combination of two or more of X, Y, and Z,such as, for instance, XYZ, XYY, YZ, and ZZ. As used herein, the term“and/or” includes any and all combinations of one or more of theassociated listed items.

Although the terms “first,” “second,” etc. may be used herein todescribe various types of elements, these elements should not be limitedby these terms. These terms are used to distinguish one element fromanother element. Thus, a first element discussed below could be termed asecond element without departing from the teachings of the disclosure.

Spatially relative terms, such as “beneath,” “below,” “under,” “lower,”“above,” “upper,” “over,” “higher,” “side” (e.g., as in “sidewall”), andthe like, may be used herein for descriptive purposes, and, thereby, todescribe one elements relationship to another element(s) as illustratedin the drawings. Spatially relative terms are intended to encompassdifferent orientations of an apparatus in use, operation, and/ormanufacture in addition to the orientation depicted in the drawings. Forexample, if the apparatus in the drawings is turned over, elementsdescribed as “below” or “beneath” other elements or features would thenbe oriented “above” the other elements or features. Thus, the exemplaryterm “below” can encompass both an orientation of above and below.Furthermore, the apparatus may be otherwise oriented (e.g., rotated 90degrees or at other orientations), and, as such, the spatially relativedescriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particularembodiments and is not intended to be limiting. As used herein, thesingular forms, “a,” “an,” and “the” are intended to include the pluralforms as well, unless the context clearly indicates otherwise. Moreover,the terms “comprises,” “comprising,” “includes,” and/or “including,”when used in this specification, specify the presence of statedfeatures, integers, steps, operations, elements, components, and/orgroups thereof, but do not preclude the presence or addition of one ormore other features, integers, steps, operations, elements, components,and/or groups thereof. It is also noted that, as used herein, the terms“substantially,” “about,” and other similar terms, are used as terms ofapproximation and not as terms of degree, and, as such, are utilized toaccount for inherent deviations in measured, calculated, and/or providedvalues that would be recognized by one of ordinary skill in the art.

Various exemplary embodiments are described herein with reference tosectional and/or exploded illustrations that are schematic illustrationsof idealized exemplary embodiments and/or intermediate structures. Assuch, variations from the shapes of the illustrations as a result, forexample, of manufacturing techniques and/or tolerances, are to beexpected. Thus, exemplary embodiments disclosed herein should notnecessarily be construed as limited to the particular illustrated shapesof regions, but are to include deviations in shapes that result from,for instance, manufacturing. In this manner, regions illustrated in thedrawings may be schematic in nature and the shapes of these regions maynot reflect actual shapes of regions of a device and, as such, are notnecessarily intended to be limiting.

As is customary in the field, some exemplary embodiments are describedand illustrated in the accompanying drawings in terms of functionalblocks, units, and/or modules. Those skilled in the art will appreciatethat these blocks, units, and/or modules are physically implemented byelectronic (or optical) circuits, such as logic circuits, discretecomponents, microprocessors, hard-wired circuits, memory elements,wiring connections, and the like, which may be formed usingsemiconductor-based fabrication techniques or other manufacturingtechnologies. In the case of the blocks, units, and/or modules beingimplemented by microprocessors or other similar hardware, they may beprogrammed and controlled using software (e.g., microcode) to performvarious functions discussed herein and may optionally be driven byfirmware and/or software. It is also contemplated that each block, unit,and/or module may be implemented by dedicated hardware, or as acombination of dedicated hardware to perform some functions and aprocessor (e.g., one or more programmed microprocessors and associatedcircuitry) to perform other functions. Also, each block, unit, and/ormodule of some exemplary embodiments may be physically separated intotwo or more interacting and discrete blocks, units, and/or moduleswithout departing from the scope of the inventive concepts. Further, theblocks, units, and/or modules of some exemplary embodiments may bephysically combined into more complex blocks, units, and/or moduleswithout departing from the scope of the inventive concepts.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this disclosure is a part. Terms,such as those defined in commonly used dictionaries, should beinterpreted as having a meaning that is consistent with their meaning inthe context of the relevant art and should not be interpreted in anidealized or overly formal sense, unless expressly so defined herein.

Hereinafter, exemplary embodiments will be described in detail withreference to FIGS. 1, 2, 3, 4, and 5.

FIG. 1 is a block diagram schematically illustrating a configuration ofa vehicle to which a system integration module is applied according toan exemplary embodiment.

Referring to FIG. 1, the system integration module according to anexemplary embodiment may be integrally configured with control units ina vehicle or may be implemented as a separate device to be connectedwith the control units of the vehicle by a separate connection means.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this disclosure is a part. Terms,such as those defined in commonly used dictionaries, should beinterpreted as having a meaning that is consistent with their meaning inthe context of the relevant art and should not be interpreted in anidealized or overly formal sense, unless expressly so defined herein.

Referring to FIG. 1, the system integration module according to anexemplary embodiment may include a plurality of modules. In this case,at least one of the plurality of modules may include a device and asensor for detecting an object located around the vehicle. At least oneof the plurality of modules may include a communication module whichfacilitates wired/wireless communication between components or devicesin the vehicle. At least one of the plurality of modules may include acommunication module which facilitates wireless communication with adevice outside the vehicle. At least one of the plurality of modules mayinclude a motor for moving a plurality of modules mounted on the systemintegration module and a module for controlling the motor.

For example, the system integration module may include at least one of alight detection and ranging (LiDAR), an ultrasonic sensor, a camera, orthe like for detecting an object located around the vehicle.

The system integration module may include a module for storing a highdefinition map. The high definition map may refer to a map havingaccuracy of a level where an error range is considerably reduced, forexample, a level within an error range of 10 cm, which may includeinformation about various structures, such as traffic lights, signposts,curbs, and road surface marks, as well as information of a line unitsuch as road centerlines or boundary lines.

The system integration module may include a display for notification.The display included in the system integration module may be aconfiguration for providing visual information to the outside of thevehicle.

The system integration module may include an internal communicationmodule, such as a controller area network (CAN) module, a local Internetnetwork (LIN) module, a flex-ray module, and an Ethernet module, whichfacilitates wired/wireless communication between components and devicesin the vehicle.

The system integration module may include an external communicationmodule used for vehicle-to-everything (V2X) communication capable ofbeing connected with an external network which facilitates wirelesscommunication with a device outside the vehicle.

The system integration module may include a sensor module movement motorfor moving a device, a component, or a module, such as a communicationmodule, a display, and an object detector, which is mounted on thesystem integration module, and a sensor module controller forcontrolling the motor.

The system integration module may include a signal processing module forperforming signal processing of sensing signals of sensors, such as aLiDAR, a camera, and an ultrasonic sensor, for detecting an object. Thesignal processing module may perform signal processing of assigning aweight to sensing signals of sensors for detecting an object.

In detail, the signal processing module may assign a weight according toa function, such as selection of autonomous driving and selection ofADAS driving, for each sensor and may assign a weight according to aweather environment, road information, and a road situation for eachsensor.

The system integration module having the above-mentioned configurationmay perform wired/wireless communication with a sensor and devicemounted inside the vehicle, a sensor and device for controlling avehicle chassis, a driver output interface, and a vehicle controlinterface.

For example, the system integration module may perform wired/wirelesscommunication with a sensor and a device mounted inside the vehicle, forexample, a camera in the vehicle, a driving mode switch, a navigationNAV, an ultrasonic sensor in the vehicle, or a radar.

The system integration module may perform wired/wireless communicationwith a sensor and a device for control a vehicle chassis, for example, asteering wheel, an accelerator pedal, a brake pedal, a wheel speedsensor, a yaw rate sensor, a steering angle sensor, and a gravity (G)sensor.

The system integration module may perform wired/wireless communicationwith the driver output interface for providing a driver with visualinformation and voice information. For example, the driver outputinterface may include a speaker and a display installed in the vehicle.

The system integration module may perform wired/wireless communicationwith the vehicle control interface. For example, the system integrationmodule may provide the vehicle control interface with object andmanipulation information detected inside/outside the vehicle.

The vehicle control interface may control motion of the vehicle based onthe information provided from the system integration module. The vehiclecontrol interface may control an engine control system, a brake controlsystem, and a steering control system based on the information providedfrom the system integration module.

FIG. 2 is a block diagram illustrating a configuration of a signalprocessing module included in a system integration module according toan exemplary embodiment.

Referring to FIG. 2, a system integration module 100 according to anexemplary embodiment may include a function weight table 110, a firstweight applying device 120, a road environment determining device 130, aroad environment weight table 140, and a second weight applying device150.

The function weight table 110 may store function weights for eachsensor. The function weight table 110 may select a function weight foreach sensor, which corresponds to a vehicle function selected by adriver, and may output the selected function weight as a functionselection weight T_s1.

For example, the function weight table 110 may store a function weightfor each sensor, which is applied during autonomous driving, and afunction weight for each sensor, which is applied during ADAS driving.Furthermore, the function weight table 110 may select one of a functionweight for each sensor, which is applied during autonomous driving, or afunction weight for each sensor, which is applied during ADAS driving,based on a function selection signal F_s input according to a vehiclefunction selected by the driver and may output the selected functionweight for each sensor as the function selection weight T_s1.

In detail, when the function selection signal F_s is enabled, thefunction weight table 110 may output a function weight for each sensor,which is used during autonomous driving, as the function selectionweight T_s1. When the function selection signal F_s is disabled, thefunction weight table 110 may output a function weight for each sensor,which is used during ADAS driving, as the function selection weightT_s1.

The first weight applying device 120 may receive the function selectionweight T_s1 from the function weight table 110 and may receive a sensingsignal S_i of each of sensors for detecting objects inside and outsidethe vehicle. The first weight applying device 120 may output a functionweight application signal W_a by applying the function selection weightT_s1 to the sensing signal S_i. In this case, the sensing signal S_i mayinclude sensing results of sensors for detecting objects inside andoutside the vehicle, for example, a sensing result of a LiDAR, a sensingresult of an ultrasonic sensor, an obtained image of a camera, locationinformation of a high definition map according to a global positioningsystem (GPS), and a sensing result of a radar.

The road environment determining device 130 may determine an environmentof the road where the vehicle is currently traveling, based on thesensing signal S_i.

For example, the road environment determining device 130 may determine aweather environment, road information, and a road situation of the roadwhere the vehicle is currently traveling, based on the sensing signalS_i. In this case, the determining of the weather environment mayinclude determining weather, such as snow, rain, or fog on the road, anddetermining time, such as day and night. The determining of the roadinformation may include determining a road shape such as a tunnel or abridge. The determining of the road situation may include distinguishingcity driving from out-of-city driving, distinguishing highway drivingfrom national highway driving, and determining the volume of traffic onthe road.

The road environment weight table 140 may store road environmentdetermination weights for each sensor. The road environment weight table140 may select at least one of road environment determination weightsdepending on the result determined by the road environment determiningdevice 130 and may output the selected road environment determinationweight for each sensor as an environment determination weight T_s2.

For example, the road environment weight table 140 may select roadenvironment determination weights for each sensor, which correspond tothe results of determining a weather environment, road information, anda road situation included in the result of determining the roadenvironment at the road environment determining device 130 and mayoutput the selected road environment determination weight for eachsensor as the environment determination weight T_s2.

The second weight applying device 150 may receive the function weightapplication signal W_a from the first weight applying device 120 and mayreceive the environment determination weight T_s2 from the roadenvironment weight table 140. The second weight applying device 150 mayoutput a weight application dataset SD by applying the environmentdetermination weight T_s2 to the function weight application signal W_a.In this case, the weight application dataset SD may be used for ADASdriving and autonomous driving.

FIGS. 3 and 4 are flowcharts illustrating an operation of a signalprocessing module included in a system integration module according toan exemplary embodiment.

FIG. 3 is a flowchart illustrating an operation method of a signalprocessing module included in a system integration module according toan exemplary embodiment.

Referring to FIG. 3, an operation method of a signal processing moduleincluded in the system integration module 100 of FIG. 2 may include thesteps of selecting a function (S1), selecting a weight for each functionselection sensor (S2), applying a first weight (S3), determining a roadenvironment (S4), selecting a weight for each road environmentdetermination sensor (S5), and applying a second weight (S6).

The step of selecting the function (S1) may include selecting autonomousdriving or ADAS driving by a driver.

The step of selecting the weight for each function selection sensor (S2)may include selecting a weight for each sensor for autonomous driving orselecting a weight for each sensor for ADAS driving.

For example, a weight for each of a plurality of pieces of informationcapable of being provided to the system integration module according toan exemplary embodiment, for example, image information (e.g., camerainformation) obtained from a camera, LiDAR information obtained from aLiDAR, ultrasonic information obtained from an ultrasonic sensor,external communication information obtained from an externalcommunication module, high definition map information obtained from aGPS and a high definition map, and radar information obtained from aradar, may be selected. In addition, the weight for each of theplurality of pieces of information may vary with the selection ofautonomous driving or the selection of ADAS driving.

In detail, when a weight for camera information is A during autonomousdriving, a weight for camera information may be B during ADAS driving. Aand B may be the same value or different values.

To sum up, after selecting one of the autonomous driving or the ADASdriving in the step S1, the step of selecting the weight for eachfunction selection sensor (S2) may include selecting a weight for eachsensor for the selected driving.

The step of applying the first weight (S3) may include applying theweight for each sensor, which is selected in the step S2, to a sensingsignal S_i provided to the signal processing module included in thesystem integration module 100, e.g., information obtained from eachsensor.

For example, in the step S3, the camera weight selected in the step S2may be applied to camera information. In this case, the camera weightselected in the step S2 may refer to a function camera weight, and avalue of the function camera weight when autonomous driving or ADASdriving is selected may be varied or same.

For example, in the step S3, the LiDAR weight selected in the step S2may be applied to LiDAR information. In this case, the LiDAR weightselected in the step S2 may refer to a function LiDAR weight, and avalue of the function LiDAR weight when autonomous driving or ADASdriving is selected may be varied or same.

For example, in the step S3, the ultrasonic weight selected in the stepS2 may be applied to ultrasonic information. In this case, theultrasonic weight selected in the step S2 may refer to a functionultrasonic weight, and a value of the function ultrasonic weight whenautonomous driving or ADAS driving is selected may be varied or same.

For example, in the step S3, the communication weight selected in thestep S2 may be applied to external communication information. In thiscase, the communication weight selected in the step S2 may refer to afunction communication weight, and a value of the function communicationweight when autonomous driving or ADAS driving is selected may be variedor same.

For example, in the step S3, the location weight selected in the step S2may be applied to high definition map information. In this case, thelocation weight selected in the step S2 may refer to a function locationweight, and a value of the function location weight when autonomousdriving or ADAS driving is selected may be varied or same.

For example, in the step S3, the radar weight selected in the step S2may be applied to radar information. In this case, the radar weightselected in the step S2 may refer to a function radar weight, and avalue of the function radar weight when autonomous driving or ADASdriving is selected may be varied or same.

The step of determining the road environment (S4) may be determining anenvironment of the road where the vehicle is currently traveling, whichmay include determining weather information including weather and time,determining road information including a road shape such as a tunnel ora bridge, and distinguishing city driving from out-of-city driving,distinguishing highway driving from national highway driving, anddetermining a volume of traffic on the road.

The step of selecting the weight for each road environment determinationsensor (S5) may include selecting a weight for each sensor, whichcorresponds to the result determined in the step S4.

The step of applying the second weight (S6) may include applying theweight for each sensor, which is selected in the step S5, to theinformation to which the weight is applied in the step S3.

For example, in the step S6, the camera weight selected in the step S5may be applied to the camera information to which the function weight isapplied in the step S3. In this case, the camera weight selected in thestep S5 may refer to a road environment determination camera weight.

For example, in the step S6, the LiDAR weight selected in the step S5may be applied to the LiDAR information to which the function weight isapplied in the step S3. In this case, the LiDAR weight selected in thestep S5 may refer to a road environment determination LiDAR weight.

For example, in the step S6, the ultrasonic weight selected in the stepS5 may be applied to the ultrasonic information to which the functionweight is applied in the step S3. In this case, the ultrasonic weightselected in the step S5 may refer to a road environment determinationultrasonic weight.

For example, in the step S6, the communication weight selected in thestep S5 may be applied to the communication information to which thefunction weight is applied in the step S3. In this case, thecommunication weight selected in the step S5 may refer to a roadenvironment determination communication weight.

For example, in the step S6, the location weight selected in the step S5may be applied to the location information to which the function weightis applied in the step S3. In this case, the location weight selected inthe step S5 may refer to a road environment determination locationweight.

For example, in the step S6, the radar weight selected in the step S5may be applied to the radar information to which the function weight isapplied in the step S3. In this case, the radar weight selected in thestep S5 may refer to a road environment determination radar weight.

FIG. 4 is a flowchart illustrating in detail the steps of determining aroad environment (S4) in FIG. 3, selecting a weight for each roadenvironment determination sensor (S5) in FIG. 3, and applying a secondweight (S6) in FIG. 3.

As shown in FIG. 4, the step of determining the road environment (S4)may include the steps of determining a weather environment (S11),determining road information (S21), and determining a road situation(S31).

The step of determining the weather environment (S11) may be determininga weather environment of the road based on external communicationinformation and camera information, which may include determining thatit is rain, that it is snow, or that it is night.

When it is determined that it is rain, that it is snow, or that it isnight in the step S11, in the step S5, the highest weight may beselected for radar information and location information and the lowestweight may be selected for camera information.

In the step S12, the highest weight selected in the step S5 may beapplied to radar information and location information and the lowestweight selected in the step S5 may be applied to camera information.

In the step S13, the sensing results (e.g., the radar information, thelocation information, and the camera information) to which the weightsare applied in the step S11 and S12 may be output as a weatherenvironment sensor signal dataset.

The step of determining the road information (S21) may be determining ashape of the road where the vehicle is currently traveling, which mayinclude determining whether the road where the vehicle is currentlytraveling is a tunnel or a bridge.

When it is determined that the road where the vehicle is currentlytraveling is the tunnel or the bridge in the step S21, in the step S5,the highest weight may be selected for LiDAR information and locationinformation and a weight lower than that for the LiDAR information andthe location information may be selected for radar information andcamera information.

In the step S22, the highest weight may be applied to LiDAR informationand location information and a low weight may be applied to radarinformation and camera information.

In the step S23, the sensing results (e.g., the LiDAR information, thelocation information, the radar information, and the camera information)to which the weights are applied in the steps of S21 and S22 may beoutput as a road information sensor signal dataset.

The step of determining the road situation (S31) may includedistinguishing city driving from out-of-city driving, distinguishinghighway driving from national highway driving, and determining thevolume of traffic on the road.

When it is determined that the current driving is the city driving withheavy traffic in the step S31, the highest weight may be selected forLiDAR information, camera information, and location information and aweight lower than that for the LiDAR information, the camerainformation, and the location information may be selected for radarinformation.

In the step S32, the highest weight may be applied to LiDAR information,camera information, and location information and a low weight may beapplied to radar information.

In the step S33, the sensing results (e.g., the LiDAR information, thecamera information, the location information, the radar information) towhich the weights are applied in the steps S31 and S32 may be output asa road situation sensor signal dataset.

The step of performing the integration determination (S40) may includeoutputting the sensing results to which the weights are appliedaccording to the determination of the road environment, based on theweather environment sensor signal dataset, the road information sensorsignal dataset, and the road situation sensor signal dataset.

For example, the step of performing the integration determination (S40)may include processing sensing results duplicated among the sensingresults included in the weather environment sensor signal dataset, theroad information sensor signal dataset, and the road situation sensorsignal dataset.

Assuming that there is duplicated camera information in the weatherenvironment sensor signal dataset, the road information sensor signaldataset, and the road situation sensor signal dataset, in the step S40,all of values of the camera information of the weather environmentsensor signal dataset, the camera information of the road informationsensor signal dataset, and the camera information of the road situationsensor signal dataset may be added and output.

Furthermore, assuming that there is duplicated camera information in theweather environment sensor signal dataset, the road information sensorsignal dataset, and the road situation sensor signal dataset, in thestep S40, only the camera information having the same value among valuesof the camera information of the weather environment sensor signaldataset, the camera information of the road information sensor signaldataset, and the camera information of the road situation sensor signaldataset may be output.

Furthermore, assuming that there is duplicated camera information in theweather environment sensor signal dataset, the road information sensorsignal dataset, and the road situation sensor signal dataset, in thestep S40, only the camera information having a plurality of the samevalues among values of the camera information of the weather environmentsensor signal dataset, the camera information of the road informationsensor signal dataset, and the camera information of the road situationsensor signal dataset may be output.

FIG. 5 is a flowchart illustrating an operation of a system integrationmodule according to an exemplary embodiment.

The system integration module may receive sensing results from a camera,an ultrasonic sensor, and a radar installed in the vehicle other than aLiDAR, an ultrasonic sensor, a camera, and a high definition map loadedinto the system integration module.

As such, the system integration module may receive sensing results ofsensors for determining objects which are present inside or outside thevehicle.

Furthermore, the system integration module may receive a plurality ofpieces of information used for vehicle driving from a network outsidethe vehicle via a communication module.

The system integration module according to an exemplary embodiment mayapply a weight according to a driving mode (e.g., an autonomous drivingmode or an ADAS driving mode) selected by a driver and a weightaccording to an environment of the road where the vehicle is currentlytraveling to all of information applied to the system integration moduleand may use the applied information for autonomous driving or ADASdriving, thus having an effect on safe driving by accurately determiningan object.

Such an operation of the system integration module will be describedwith reference to FIG. 5.

In the step S50, a driver may ride in a vehicle equipped with the systemintegration module according to an exemplary embodiment and may selectautonomous driving or ADAS driving.

When the driver selects the autonomous driving, in the step S61, aweight for each sensor for the autonomous driving may be selected.

After the step S61 is performed, in the step S62, the selected weightfor each sensor may be applied to sensing information of each ofsensors.

After the step S62 is performed, in the step S63, the sensinginformation to which the weight for the selection of the autonomousdriving is applied may be output as an autonomous driving functiondataset.

After the weight is selected according to the environment of the roadwhere the vehicle is currently traveling, in the step S64, the selectedweight may be applied to the autonomous driving function dataset outputin the step S63.

After the step S64 is performed, in the step S65, the autonomous drivingfunction dataset to which the weight for the road environment is appliedmay be output as a road environment sensor signal dataset.

In the step S66, the road environment sensor signal dataset may beapplied to an autonomous driving function of the vehicle.

When the driver selects the ADAS driving, in the step S71, a weight foreach sensor for the ADAS driving may be selected.

After the step S71 is performed, in the step S72, the selected weightfor each sensor may be applied to sensing information of each ofsensors.

After the step S72 is performed, in the step S73, the sensinginformation to which the weight for the selection of the ADAS driving isapplied may be output as an ADAS driving function dataset.

After the weight is selected according to the environment of the roadwhere the vehicle is currently traveling, in the step S74, the selectedweight may be applied to the ADAS driving function dataset output in thestep S73.

After the step S74 is performed, in the step S75, the ADAS drivingfunction dataset to which the weight for the road environment is appliedmay be output as a road environment sensor signal dataset.

In the step S76, the road environment sensor signal dataset may beapplied to an ADAS driving function of the vehicle.

FIG. 6 is a block diagram schematically illustrating a configuration ofa vehicle to which a system integration module is applied according toanother exemplary embodiment.

Referring to FIG. 6, a system integration module 100 according toanother exemplary embodiment may include a plurality of modules. In thiscase, at least one of the plurality of modules may include a device anda sensor for detecting an object located around the vehicle. At leastone of the plurality of modules may include a communication module whichfacilitates wired/wireless communication between components or devicesin the vehicle. At least one of the plurality of modules may include acommunication module which facilitates wireless communication with adevice outside the vehicle. At least one of the plurality of modules mayinclude a motor for moving the plurality of modules mounted on thesystem integration module 100. At least one of the plurality of modulesmay include a motor control module for controlling at least one motorfor moving the modules mounted on the system integration module 100. Atleast one of the plurality of modules may include a display module.

For example, the system integration module 100 may include at least oneof a LiDAR, an ultrasonic sensor, a camera, or the like for detecting anobject located around the vehicle.

The system integration module 100 may include a display. The displayincluded in the system integration module 100 may be a configuration forproviding visual information to the outside of the vehicle.

The system integration module 100 may include a communication module,such as a controller area network (CAN) module, a local Internet network(LIN) module, a flex-ray module, and an Ethernet module, whichfacilitates wired/wireless communication between components and devicesin the vehicle.

The system integration module 100 may include a module used forvehicle-to-everything (V2X) communication capable of being connectedwith an external network which facilitates wireless communication with adevice outside the vehicle.

The system integration module 100 may include a motor for moving adevice, a component, or a module, such as a communication module, adisplay, and an object detector, which is equipped with the systemintegration module 100, and a module for controlling the motor.

The system integration module 100 having the above-mentionedconfiguration may perform wired/wireless communication with a sensor anddevice mounted inside the vehicle, a sensor and device for controlling avehicle chassis, a driver output interface, and a vehicle controlinterface.

For example, the system integration module 100 may performwired/wireless communication with a sensor and a device mounted insidethe vehicle, for example, a camera in the vehicle, a driving modeswitch, a navigation NAV, an ultrasonic sensor in the vehicle, or aradar.

The system integration module 100 may perform wired/wirelesscommunication with a sensor and a device for control a vehicle chassis,for example, a steering wheel, an accelerator pedal, a brake pedal, awheel speed sensor, a yaw rate sensor, a steering angle sensor, and agravity (G) sensor.

The system integration module 100 may perform wired/wirelesscommunication with the driver output interface for providing a driverwith visual information and voice information. For example, the driveroutput interface may include a speaker and a display installed in thevehicle.

The system integration module 100 may perform wired/wirelesscommunication with the vehicle control interface. For example, thesystem integration module 100 may provide the vehicle control interfacewith object and manipulation information detected inside/outside thevehicle.

The vehicle control interface may control motion of the vehicle based onthe information provided from the system integration module 100. Thevehicle control interface may control an engine control system, a brakecontrol system, and a steering control system based on the informationprovided from the system integration module 100.

FIG. 7 is a plan view illustrating a system integration module accordingto another exemplary embodiment.

Referring to FIG. 7, a plurality of modules of a system integrationmodule 100 according to another exemplary embodiment may be arranged onlocations A, B, C, D, E, F, G, and H, respectively. Hereinafter, thelocations A, B, C, D, E, F, G, and H where the plurality of modules arerespectively arranged may be referred to as the plurality of modules.

At least one of the plurality of modules A, B, C, D, E, F, G, and Harranged in the system integration module 100 may include a motor formoving each module and a module for controlling the motor.

Thus, at least one of the plurality of modules A, B, C, D, E, F, G, andH arranged in the system integration module 100 may be moved by themotor.

As described with reference to FIG. 6, at least one of the plurality ofmodules A, B, C, D, E, F, G, and H arranged in the system integrationmodule 100 may include one of sensors mounted outside the vehicle, forsensing an object outside the vehicle, for example, a LiDAR, anultrasonic sensor, or a camera.

Furthermore, at least one of the plurality of modules A, B, C, D, E, F,G, and H arranged in the system integration module 100 may include acommunication module capable of communicating with each of a sensor 10mounted inside the vehicle, a vehicle chassis sensor 20, a driver outputinterface 30, and a vehicle control interface 40.

In this case, the sensor 10 mounted inside the vehicle may include acamera in the vehicle, a driving mode switch, a navigation NAV, anultrasonic sensor in the vehicle, a radar, or the like. The vehiclechassis sensor 20 may include a steering wheel sensor, an acceleratorpedal sensor, a brake pedal sensor, a wheel speed sensor, a yaw ratesensor, a steering angle sensor, a gravity (G) sensor, or the like. Thedriver output interface 30 may include a speaker and a display installedin the vehicle. The vehicle control interface 40 may communicate with anengine control system to control an output of an engine, may communicatewith a brake control system to control braking of the vehicle, and maycommunicate with a steering control system to control steering of thevehicle.

In addition, at least one of the plurality of modules A, B, C, D, E, F,G, and H arranged in the system integration module 100 may include acommunication module capable of communicating with a network outside thevehicle.

For example, at least one of the plurality of modules A, B, C, D, E, F,G, and H arranged in the system integration module 100 may determine adriving plan of the vehicle based on the result sensed by the sensormounted outside the vehicle, the result sensed by the sensor 10 mountedinside the vehicle, and the result sensed by the vehicle chassis sensor20 and may provide the determined result to the driver output interface30 and the vehicle control interface 40.

For example, at least one of the plurality of modules A, B, C, D, E, F,G, and H arranged in the system integration module 100 may determine adriving plane of the vehicle based on an object outside the vehicle, anobject inside the vehicle, and a situation where the vehicle iscurrently traveling (e.g., compare the result of determining objectsinside and outside the vehicle with a current driving situation todetermine a future driving plan) and may deliver the determined resultto the driver output interface 30, thus delivering the future drivingplan as visual or audible information to the driver.

Furthermore, at least one of the plurality of modules A, B, C, D, E, F,G, and H arranged in the system integration module 100 may determine adriving plane of the vehicle based on an object outside the vehicle, anobject inside the vehicle, and a situation where the vehicle iscurrently traveling (e.g., compare the result of determining objectsinside and outside the vehicle with a current driving situation todetermine a future driving plan) and may transmit the determined resultto the engine control system, the brake control system, and the steeringcontrol system through the vehicle control interface 40, thuscontrolling driving of the vehicle using the driving plan.

As shown in FIG. 7, the plurality of modules A, B, C, D, E, F, G, and Harranged in the system integration module 100 according to anotherexemplary embodiment may be arranged on edges of the system integrationmodule 100.

Furthermore, because at least one of the plurality of modules A, B, C,D, E, F, G, and H arranged in the system integration module 100according to another exemplary embodiment includes a motor, the modules,each of includes the motor, may be moved.

FIGS. 8A, 8B, 8C, and 8D are drawings illustrating an operation of asystem integration module according to another exemplary embodiment.

FIG. 8A is a drawing illustrating a case where a plurality of modules A,B, C, D, E, F, G, and H included in a system integration module 100 arearranged on edges of the system integration module 100.

FIG. 8B is a drawing illustrating a case where modules A, B, C, E, F,and G arranged in rows among a plurality of modules A, B, C, D, E, F, G,and H included in a system integration module 100 move to the center ofthe system integration module 100.

FIG. 8C is a drawing illustrating a case where modules D and H arrangedin columns among a plurality of modules A, B, C, D, E, F, G, and Hincluded in a system integration module 100 move to the center of thesystem integration module 100.

FIG. 8D is a drawing illustrating a case where all of a plurality ofmodules A, B, C, D, E, F, G, and H included in a system integrationmodule 100 move to the center of the system integration module 100.

In FIGS. 8A, 8B, 8C, and 8D, it is shown that modules arranged in rowsand columns among the plurality of modules A, B, C, D, E, F, G, and Harranged in the system integration module 100 are moved, but one modulemay be moved.

In FIG. 8B, it is shown that the modules A, B, and C in an upper row andthe modules E, F, and G in a lower row are simultaneously moved, butonly the modules A, B, and C in the upper row may be moved or only themodules E, F, and G in the lower row may be moved.

In FIG. 8C, it is shown that the module H in a left column and themodule D in a right column are simultaneously moved, but only the moduleH in the left column may be moved or only the module D in the rightcolumn may be moved.

FIG. 9 is a side view illustrating a system integration module accordingto another exemplary embodiment.

As shown in FIG. 9, a system integration module 100 according to anotherexemplary embodiment may include a frame, a rail, and a module.

The system integration module 100 may include the frame such that thesystem integration module 100 is mounted on a roof rack of a vehicle.

The system integration module 100 may include the rail capable of movinga module including a motor among a plurality of modules included in thesystem integration module 100. In this case, the rail may be disposed onan upper portion of the frame.

As described above, the system integration module 100 may include themodule including the motor.

FIG. 10 is a drawing illustrating a vehicle to which a systemintegration module is applied according to another exemplary embodiment.

As shown in FIG. 10, a system integration module 100 according toanother exemplary embodiment may be mounted on a roof rack of thevehicle and may be protected by a case.

In the system integration module 100 according to another exemplaryembodiment, a device mounted on the roof rack of the vehicle andprotected by the case may be referred to as an ADAS integration device.

In this case, the system integration module 100 may include a displaymodule capable of displaying a character, a sign, or an image on each ofthe front and the rear of the vehicle.

FIGS. 11 and 12 are flowcharts illustrating an operation of a systemintegration module according to another exemplary embodiment.

FIG. 11 is a flowchart illustrating movement according to layout of aplurality of modules included in a system integration module 100according to another exemplary embodiment.

As described above, the system integration module 100 may include aplurality of modules, and at least one of the plurality of modules mayinclude a motor to be movable from a location where it is initiallydisposed. Furthermore, at least one of the plurality of modules mayinclude a module for controlling a motor. The module for controlling themotor may input and store vehicle specifications and a functionrequested by a designer or a driver. Such a module may be referred to asa sensor controller.

A description will be given in detail of a method for arranging aplurality of modules (e.g., sensor modules) included in the systemintegration module 100 according to another exemplary embodiment withreference to FIG. 11.

The method may include operations S1 to S5. Each operation will bedescribed below.

In the step S1, vehicle specifications and a function requested by auser or a designer may be input and stored in a sensor controllerincluded in the system integration module 100.

In the step S2, the sensor controller included in the system integrationmodule 100 may provide a notification of sensor modules according to thefunction requested by the user or the designer and locations where thesensor modules are mounted.

In the step S3, the sensor modules according to the function may bemounted on the system integration module 100.

When the sensor modules are mounted on the system integration module100, in the step S4, the sensor modules may be moved according to thevehicle specifications.

When the locations of the sensor modules arranged on the systemintegration module 100 are determined, in the step S5, the layoutdetermination of the sensor modules may be completed.

As described above, the system integration module according to anexemplary embodiment may arrange necessary sensors modules depending onvehicle specifications and a request of the designer and the user andmay move the sensor modules, thus being applicable to a vehicleirrespective of a size and type of the vehicle.

FIG. 12 is a drawing illustrating driving of a vehicle equipped with asystem integration module according to another exemplary embodiment.Referring to FIG. 12, a system integration module 100 according to anexemplary embodiment may include display modules respectively arrangedon the front and the rear of the vehicle.

In the step S11, the display module may display a vehicle which startsto travel.

When the vehicle is traveling, in the step S12, the system integrationmodule 100 according to an exemplary embodiment may determine anenvironment where the vehicle is traveling. In this case, the step ofdetermining the environment (S12) may be determining, by the systemintegration module 100, an environment for the inside and outside of thevehicle, which may include determining that it is impossible to operatea host vehicle or that there is a high probability that an accident willoccur.

When the system integration module 100 is connected with a sensor 10mounted inside the vehicle in FIG. 6, in the step S13, it may determinewhether abnormality occurs in the body of a driver or a passenger whorides in the vehicle. When the system integration module 100 isconnected to a vehicle chassis sensor 20 of FIG. 6, in the step S13, itmay determine whether the host vehicle breaks down.

When it is determined that the abnormality occurs in the body of thedriver or the passenger who rides in the vehicle, the system integrationmodule 100 may notify the driver or the passenger of the result for thedetermined abnormal state through a driver output interface 30 of FIG.6.

When it is determined that it is impossible to operation the hostvehicle, in the step S14, the system integration module 100 may displaya warning, about the danger of operating the host vehicle, as anotification on front and rear displays.

In the step S15, the system integration module 100 may receiveinformation about a probability that the danger of a path where thevehicle is traveling will occur, that is, information about asharp-curved area, a school zone, a wildlife area, or the like, from anavigation among sensors 10 mounted inside the vehicle and may determinea probability that an accident will occur ahead.

When it is determined that there is the high probability that theaccident will occur ahead, in the step S16, the system integrationmodule 100 may display a notification of the danger of the accident onthe front and rear displays.

In the step S17, the system integration module 100 may detect an objectbased on the sensing results of a LiDAR, an ultrasonic sensor, and acamera.

When a pedestrian, a two-wheeled vehicle, or a following vehicle is notdetected within a predetermined distance (i.e., No), in the step S19,the system integration module 100 may fail to display a notification ofthe pedestrian, the two-wheeled vehicle, or the following vehicle on thefront and rear displays.

When the pedestrian, the two-wheeled vehicle, or the following vehicleis detected as an object within the predetermined distance, in the stepS20, the system integration module 100 may display the notification ofthe pedestrian, the two-wheeled vehicle, or the following vehicle on thefront and rear displays.

The illustrated exemplary embodiments may more develop the ADAS and theautonomous driving system by applying both the ADAS driving and theautonomous driving.

Furthermore, the illustrated exemplary embodiments may improve theaccuracy of determining an object by applying a weight to sensingresults of sensors for determining the object.

Furthermore, the illustrated exemplary embodiments may be easy to applythe ADAS to the vehicle by moving electronic components loaded into themodule depending on a size and shape of the vehicle.

In addition, various effects ascertained directly or indirectly throughthe invention may be provided.

Although certain exemplary embodiments and implementations have beendescribed herein, other embodiments and modifications will be apparentfrom this description. Accordingly, the inventive concepts are notlimited to such embodiments, but rather to the broader scope of theappended claims and various obvious modifications and equivalentarrangements as would be apparent to a person of ordinary skill in theart.

What is claimed is:
 1. A signal processing module for outputting adataset for determining an object during autonomous driving and advanceddriver assistance system (ADAS) driving, the signal processing modulecomprising: a function weight table configured to store weights for eachof first sensors for an autonomous driving mode and an ADAS drivingmode, the function weight table configured to select and output a weightfor each of the first sensors corresponding to a driving mode selectedbetween the autonomous driving mode and the ADAS driving mode; a firstweight applying device configured to generate a function weightapplication signal by applying the selected weight for each of the firstsensors to sensing information of sensors for sensing an object; a roadenvironment determining device configured to determine a roadenvironment based on the sensing information of the sensors for sensingthe object; a road environment weight table configured to store weightsfor each of second sensors for the road environment, the roadenvironment weight table configured to select and output a weight foreach of the second sensors, the selected weight for each of the secondsensors corresponding to a result determined by the road environmentdetermining device; and a second weight applying device configured tooutput a dataset by applying the selected weight for each of the secondsensors to the function weight application signal.
 2. The signalprocessing module of claim 1, wherein the sensors for sensing the objectcomprise at least one of a light detection and ranging (LiDAR), a radar,a camera, or an ultrasonic sensor.
 3. The signal processing module ofclaim 2, wherein the road environment determining device is configuredto determine a weather environment, road information, and a roadsituation of a road where a vehicle travels, based on informationobtained from the at least one of the LiDAR, the radar, the camera, orthe ultrasonic sensor.
 4. The signal processing module of claim 3,wherein the road environment determining device is configured todistinguish when it is rain or snow from when it is not rain or snow andto distinguish day from night, to determine whether the road where thevehicle is traveling is a tunnel or a bridge, and to determine a volumeof traffic on the road where the vehicle travels.
 5. A systemintegration module comprising: a plurality of sensors configured todetermine an object outside a vehicle; an internal communication moduleconfigured to communicate with controllers inside the vehicle; anexternal communication module configured to communicate with devicesoutside the vehicle; and a signal processing module configured to applya first weight according to a driving mode and a second weight for aroad environment to information obtained by communicating with at leastone of the plurality of sensors, the internal communication module, orthe external communication module.
 6. The system integration module ofclaim 5, wherein the signal processing module is configured to apply thefirst weight to each of a plurality of pieces of sensing information andto apply the second weight to each of the plurality of pieces of sensinginformation to which the first weight is applied.
 7. The systemintegration module of claim 6, wherein the signal processing modulecomprises: a function weight table configured to store weights for eachsensor for an autonomous driving mode and an ADAS driving mode, thefunction weight table configured to output a weight for each sensorcorresponding to the driving mode selected between the autonomousdriving mode and the ADAS driving mode, as the first weight; a firstweight applying device configured to output a function weightapplication signal by applying the first weight to each of the pluralityof pieces of sensing information; a road environment determining deviceconfigured to determine a road environment from the plurality of piecesof sensing information; a road environment weight table configured tostore weights for each sensor for the road environment, the roadenvironment weight table configured to output the stored weight for eachsensor corresponding to the result determined by the road environmentdetermining device, as the second weight; and a second weight applyingdevice configured to apply the second weight to the function weightapplication signal.
 8. A system integration module comprising: a framemounted on a roof rack of a vehicle; a rail disposed on an upper portionof the frame; and a plurality of modules configured to move along therail, wherein at least one of the plurality of modules comprises a motorfor moving along the rail.
 9. The system integration module of claim 8,wherein the at least one of the plurality of modules comprises a sensorconfigured to sense an object outside the vehicle.
 10. The systemintegration module of claim 8, wherein the at least one of the pluralityof modules includes a communication module configured to communicatewith devices inside and outside the vehicle.
 11. The system integrationmodule of claim 8, wherein the at least one of the plurality of modulescomprises a display module configured to display a character, a sign, oran image on each of a front and a rear of the vehicle.
 12. The systemintegration module of claim 11, wherein the display module is disposedon each of the front and the rear of the vehicle.
 13. The systemintegration module of claim 9, wherein the at least one of the pluralityof modules comprises a module configured to determine an object outsidethe vehicle based on a sensing result provided from the sensor.
 14. Thesystem integration module of claim 10, wherein the at least one of theplurality of modules comprises a module configured to determine anabnormal state of a body of a driver or a passenger of the vehicle basedon a sensing result of a sensor mounted inside the vehicle, the sensingresult being provided from the communication module.
 15. The systemintegration module of claim 13, wherein the at least one of theplurality of modules comprises a display configured to display anotification according to the result of determining the object outsidethe vehicle.
 16. The system integration module of claim 14, wherein theat least one of the plurality of modules comprises a display configuredto display a notification according to the result of determining theabnormal state of the driver or the passenger of the vehicle.